CN114313120A - Device for collecting and releasing ocean floating type observation equipment by adopting unmanned ship - Google Patents

Abstract

The invention discloses a device for deploying and retracting marine floating observation equipment by adopting an unmanned ship, which belongs to the field of buoys and comprises: the hull, set up in the hull and receive and release the cabin, the cabin door that opens and shuts that can outwards open has been seted up on the cabin body of receiving and releasing cabin one side, the spacing base member of second is located and is opened and shut the adjacent cabin internal of cabin door, the spacing base member of second has the inclined plane to the internal slope in cabin, the spacing base member inclined plane top of second sets up with the cabin door parallel and level that opens and shuts, first spacing base member top is equipped with the recovery subassembly, be equipped with the water pump in the first spacing base member, the hull bottom outside is located to the water pump inlet port, the water pump outlet port is connected with the water pipe, first spacing base member side top is located to the water pipe delivery port. The present case can be followed large-scale scientific investigation and carried on the small-size unmanned ship of release and receive and release the buoy, solves the many and with big problem of cost of large-scale scientific investigation ship activity duration, adopts unmanned ship to receive and release the buoy and realizes that the multiple spot is received and released simultaneously, receives and releases the impaired probability of buoy process low.

Description

Device for collecting and releasing ocean floating type observation equipment by adopting unmanned ship

Technical Field

The invention belongs to the field of buoys, and particularly relates to a device for deploying and retracting marine floating observation equipment by adopting an unmanned ship.

Background

The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.

In the marine management monitoring process, often need put into the ocean and observe the buoy, be used for laying observation device, the buoy generally is put into the ocean, so that real-time observation controls the dynamic change in ocean, after ocean observation is accomplished, need to observe the buoy and retrieve and recycle, improve resource utilization, and the cost is reduced, prevent to cause marine environment's pollution simultaneously, current recovery mode is generally salvaged through the manual work, pack up the observation buoy that floats on the sea, but when retrieving, need artifical single fishing and depositing, work load is great, and it is long consuming time, the inefficiency of retrieving.

Meanwhile, the buoys are distributed in the ocean in a dispersed manner, and several buoys can exist within hundreds of square kilometers, if a large scientific research ship is adopted to collect or release buoys at various points, the operation time and the operation cost of the large scientific research ship are extremely high, and for the problem, the prior art still has no better solution.

It should be noted that the above background description is only for the convenience of clear and complete description of the technical solutions of the present application and for the understanding of those skilled in the art. Such solutions are not considered to be known to the person skilled in the art merely because they have been set forth in the background section of the present application.

Disclosure of Invention

The invention aims to provide a device for deploying and retracting marine floating observation equipment by adopting an unmanned ship, which can release a small unmanned ship from a large scientific investigation ship to deploy and retract a buoy, solves the problems of long operation time and high operation cost of the large scientific investigation ship, can deploy and retract the buoy by adopting the unmanned ship at multiple points simultaneously, has high flexibility and low damage probability in the process of deploying and retracting the buoy.

The technical scheme adopted by the invention for realizing the purpose is as follows: an apparatus for deploying and retracting a marine floating type observation device by using an unmanned ship, comprising:

the ship body is internally provided with three cabin bodies, a detection cabin, a retraction cabin and a driving cabin are respectively arranged from the front end to the rear end of the ship body,

an opening and closing cabin door capable of being opened outwards is arranged on the cabin body at one side of the folding and unfolding cabin,

the second limiting base body is arranged in the cabin body adjacent to the opening and closing cabin door, the second limiting base body is provided with an inclined surface inclined towards the cabin body, the top end of the inclined surface of the second limiting base body is flush with the opening and closing cabin door,

a first limit base body which is arranged at the opposite position of the second limit base body and has a spacing distance, a recovery component is arranged above the first limit base body,

wherein, be equipped with the water pump in the first spacing base member, the water pump inlet port is located the hull bottom outside, and the water pump outlet port is connected with the water pipe, and first spacing base member side top is located to the water pipe delivery port.

The ship body designed by the invention can be matched with satellite communication to realize control and planning of navigation and route of the ship body on the water surface, so that a large-scale scientific investigation ship is driven to a sea area, a plurality of unmanned ship bodies are respectively put in and can simultaneously carry out buoy retraction on multiple ranges and multiple points, the large-scale scientific investigation ship can be floated in situ, the action time and the resource consumption of the large-scale ship are greatly reduced, the retraction cabin is arranged between the detection cabin and the driving cabin in front of and behind the ship body, the detection cabin and the driving cabin which are arranged in front of and behind the ship body are utilized to improve the front and back counterweight of the ship body, the navigation of the ship body on the sea surface is facilitated, the detection cabin is arranged at the bow of the ship body, an inductor and the like are arranged at the upper part of the detection cabin to avoid the collision between the unmanned ship body and floating objects on the sea surface, the buoy can be better tracked and collected by installing a GPS in the detection cabin and matching with a satellite control mode, and a driving motor and a propeller and the like can be generally selected to be installed in the driving cabin to ensure the normal movement of the ship body in the water The outer side of the ship body can be provided with a solar panel for energy supply, which is the prior art and is not described in more detail herein.

The ship body drives to the vicinity of the buoy by controlling, the opening and closing cabin door is opened, the recovery assembly is controlled to clamp and recover the buoy into the retraction cabin, the recovery assembly is arranged at the upper part of the inclined plane of the second limiting base body to lower the buoy in the process of recovering the buoy into the retraction cabin by the recovery assembly, so that the inclined plane of the second limiting base body is utilized to buffer the falling buoy and enable the falling buoy to slide down or roll downwards along the inclined plane, the damage to the buoy and the collision damage to the stacked and collected buoy caused by direct falling are avoided, when the buoy is recovered, the water at the bottom of the ship body can be pumped by the water pump and sent into the retraction cabin, the rectifying effect of bottom fluid on the absorption and collection of the water at the bottom of the ship body is avoided from the appearance of unstable fluid, the ship body is further stabilized, and the bottom counterweight in the retraction cabin is increased by the fed water to improve the overall floating stability of the ship body, and the space between the first limit base body and the second limit base body filled with the water body can be buffered by the water body, the impact force of the buoy falling from the inclined plane of the second limit base body is reduced by the resistance of the water body, and a certain cleaning effect can be achieved on the surface of the buoy.

Simultaneously, the space between the first limiting base body and the second limiting base body is designed to serve as a buoy storage space, so that the stacking space of the buoy is limited, and the buoy can be conveniently thrown.

According to an embodiment of the invention, a first supporting and fixing plate is arranged at the upper part of the inner side of the cabin body adjacent to the opening and closing cabin door, a first hydraulic telescopic rod is arranged on the first supporting and fixing plate, a hole body matched with the first hydraulic telescopic rod is arranged on the cabin body, the first hydraulic telescopic rod extends out of the cabin body, the end part of the extending cabin body is connected with a first connecting rope body, and the first connecting rope body is also connected with the opening and closing cabin door to control the first hydraulic telescopic rod to control the opening and closing of the opening and closing cabin door. The design of the opening and closing cabin door is through the flexible pull that makes progress to outside first connecting rope that comes of controlling first hydraulic telescoping rod, and then opens and close the cabin door and play control to opening and closing, wherein the closing of the cabin door that opens and shuts only need first hydraulic telescoping rod shrink can, the cabin door that opens and shuts utilizes gravity automatic closure, has saved the cabin door that opens and shuts and has closed the energy consumption, and the cabin door frame that opens and shuts all wraps up rubber seal strip.

According to one embodiment of the invention, a second sealing plate is horizontally arranged between the first limiting base body and the second limiting base body, and a second hydraulic cylinder and a second hydraulic rod which drive the second sealing plate to horizontally move are arranged in the first limiting base body. The design of first shrouding is used for sealing the space below between the first spacing base member and the second inner base member and handles, avoids the medium to discharge hull bottom from this space, and the hull bottom is seted up the hole body that corresponds with the space between the first spacing base member and the second spacing base member certainly for put in the buoy.

According to one embodiment of the invention, a horizontally arranged first sealing plate is arranged between the first limiting base body and the second limiting base body, through holes are uniformly distributed on the surface of the first sealing plate, a second hydraulic cylinder and a second hydraulic rod for driving the first sealing plate to horizontally move are arranged in the first limiting base body, and the first sealing plate is in contact with the bottom end of the inclined surface of the second limiting base body. The design of first shrouding is used for making and has spacing distance between first shrouding and the second shrouding, retrieve the buoy in-process like this, the impurity of bottom suction in to the water in the holding tank can fall to the space between second shrouding and the first shrouding through the through-hole on first shrouding in following the hull, and the buoy is retrieving the space that the through-hole on the holding tank internal surface washing falls impurity and also can fall to between second shrouding and the first shrouding through the through-hole on the first shrouding, more importantly, when carrying out the buoy input, can be through the design of providing of first shrouding and second shrouding, with the preferred discharge of the water in the cabin, reduce the ballast overweight in the shrouding cabin, if open earlier the second shrouding through first shrouding to the spacing of buoy and discharge out the hull with the water after, the input of control buoy is opened to frequency.

According to one embodiment of the invention, the recovery assembly comprises two fixed support plates which are arranged oppositely, a second screw rod and an auxiliary connecting shaft are respectively arranged between the two fixed support plates, the second screw rod and the auxiliary connecting shaft are arranged in parallel, a driving gear is arranged at one end of the second screw rod, a second motor matched with the driving gear is arranged on the first limiting base body, a first moving base body is matched with the second screw rod and the auxiliary connecting shaft, a ball sleeve matched with the second screw rod is arranged in the first moving base body, a second moving base body is arranged at the upper end of the first moving base body, a first screw rod is matched with the second moving base body, a third motor is connected to the door end, adjacent to the opening and closing cabin, of the first screw rod, and a clamping assembly is connected to the end of the third motor. A sliding sleeve is arranged at the joint of the first movable base body and the auxiliary connecting shaft.

The present case realizes forming X, Y ascending removal of direction to third motor and centre gripping subassembly through the scheme of designing first lead screw and second lead screw, even third motor and centre gripping subassembly can move on the horizontal plane, make third motor and centre gripping subassembly stretch out and open and shut the hatch door and carry out the centre gripping back and send into the cabin with the buoy after the centre gripping outside the hatch door, in centre gripping subassembly to buoy clamping process, the buoy is because buoyancy is similar vertical state usually and floats in the surface of water, confirm behind the buoy centre gripping at the centre gripping subassembly, third motor drive centre gripping subassembly is rotatory and is 90, in the synchronous drive buoy is sent back the cabin after becoming the horizontality by vertical state again, realized automatic collecting buoy.

According to an embodiment of the present invention, the first screw is provided perpendicular to the second screw, the ball housing provided in the second movable base is provided in association with the first screw, and the first motor for driving the ball housing fitted to the first screw to rotate is provided below the first movable base. The bearing ring is arranged at the joint of the first screw rod and the third motor, the first screw rod and the second screw rod are vertically arranged and used for ensuring that the third motor and the clamping assembly move upwards in the direction X, Y, the first screw rod and the second screw rod both adopt a ball screw principle and can accurately control transmission, and the first motor and the second motor respectively provide driving force.

According to an embodiment of the present invention, a shaft sleeve is disposed on the first lead screw between the third motor and the second movable base, a sliding support rod is connected below the shaft sleeve, the sliding support rod is disposed perpendicular to the surface of the first position-limiting base, and a ball contacting the surface of the first position-limiting base is disposed at the bottom end of the sliding support rod. The design of the sliding support rod is used for enabling the first screw rod to rotate through the shaft sleeve in the moving process, and the support is arranged below the shaft sleeve to reduce circular runout caused by bending possibility of the first screw rod due to overlong length of the first screw rod and enable transmission to be stable.

According to an embodiment of the present invention, a clamping assembly comprises:

two first clamping substrates which are arranged oppositely, a fifth clamping substrate is movably connected below the middle section of the two first clamping substrates, flexible clamping blocks are respectively arranged on the opposite sides of the upper ends of the two first clamping substrates, a first spring is connected on the opposite side of the upper ends of the two first clamping substrates,

one end of the fourth hinged plate is hinged with the bottom ends of the two first clamping base plates respectively, the other end of the fourth hinged plate is hinged with one end of the second clamping base plate, the other end of the second clamping base plate is hinged with the rotating disc, the bottom of the rotating disc is movably connected with a third clamping base plate, the third clamping base plate is fixedly connected with one side of the fifth clamping base plate, and a clamping driving motor connected with the rotating disc is arranged below the third clamping base plate. An infrared detector is arranged on the first clamping substrate at the side of the flexible clamping block,

when retrieving the buoy, the buoy floats to the surface of water, stretch out the centre gripping subassembly, under infrared detector's supplementary cooperation, make the flexible grip block part of centre gripping subassembly and the perpendicular superficial position of emerging of buoy correspond, under this state, it is rotatory by control centre gripping driving motor drive rotating disc, it drags the fourth articulated slab to drive the second centre gripping base plate, and then make two first centre gripping base plates rotatory and can further improve the centre gripping intensity to the buoy under the cooperation of first spring, two flexible grip blocks are used for avoiding the centre gripping excessive or to buoy surface centre gripping fish tail.

According to one embodiment of the invention, the inclined plane of the second limiting base body is uniformly distributed with buffer rings at intervals, and the buffer rings are inflated annular air bags. The design of buffering circle is used for slowing down the buoy impact force that the top fell, utilizes the effect of gasbag to absorb the impact force, and lay the buffering circle at intervals and can utilize the interval distance to make the buoy slide downwards or roll its removal energy consumption of in-process and be cut down and control at certain extent, the buoy can produce relative friction with the buffering circle of both sides when contacting with buffering circle interval space, can reduce buoy whereabouts rotation amplitude and number of times in order to slow down the rocking of the inside instrument of buoy.

According to one embodiment of the invention, a lifting ring is arranged outside the ship body, the upper end of the ship body is connected with a pulley through the lifting ring and a connecting rope, the upper part of the pulley is connected with a horizontally arranged anti-rolling cross rod, the upper part of the anti-rolling cross rod is connected with a synchronous connecting rod arranged in parallel with the anti-rolling cross rod, two ends of the synchronous connecting rod are respectively connected with a first mechanical arm, and the first mechanical arm is arranged on the main ship body.

The side of the ship body is connected with an anti-oscillation winch through a hanging ring and a rope body, and the anti-oscillation winch is arranged on the main ship body. Through diversely being connected with the hull, the hull is putting into or is withdrawing the in-process of aquatic like this, and the amplitude of shaking of hull can be reduced, avoids the condition such as buoy collision each other and the hull outside and main hull in the under-deck to appear, and more importantly, has reduced shaking of hull and can have reduced artifical supplementary hull intensity of labour and the dangerous degree of receiving and releasing. And the anti-rolling cross rod and the synchronous connecting rod which are designed at the upper end of the ship body are connected with the upper end of the ship body, so that the ship body is connected at multiple angles, and the shaking of the ship body in the folding and unfolding processes is further reduced.

Compared with the prior art, the invention has the beneficial effects that: the ship body designed by the invention can be matched with satellite communication to realize control and planning of navigation and route of the ship body on the water surface, so that a large-scale scientific investigation ship is driven to a sea area, a plurality of unmanned ship bodies are respectively put in and can simultaneously carry out buoy retraction on multiple points in multiple ranges, the large-scale scientific investigation ship can be floated in situ, the action time and resource consumption of the large-scale ship are greatly reduced, the retraction cabin is arranged between the detection cabin and the driving cabin in front of and behind the ship body, the detection cabin and the driving cabin which are arranged in front of and behind the ship body are utilized to improve the front and back balance weights of the ship body, the navigation of the ship body on the sea surface is facilitated, the detection cabin is arranged at the bow of the ship body, an inductor and the like are designed on the upper part of the detection cabin to avoid collision between the unmanned ship body and floaters on the sea surface, and the buoy can be better tracked and collected by installing a GPS in the detection cabin and matching with a satellite control mode.

Drawings

FIG. 1 is a schematic drawing showing the deploying and retracting of a device for deploying and retracting marine floating observation equipment by using an unmanned ship and a large main ship body;

FIG. 2 is a schematic view of an apparatus for deploying and retracting a marine floating observation device using an unmanned ship;

FIG. 3 is a sectional view of the retraction bay;

FIG. 4 is a schematic view of the hull tanks;

FIG. 5 is a schematic view of a portion of the retraction bay;

FIG. 6 is a schematic diagram of the bevel of a second limiting base;

FIG. 7 is a schematic view of a recovery assembly;

FIG. 8 is a schematic view showing the connection of the first lead screw and the second lead screw with the fixed support plate;

FIG. 9 is an external view of the first module;

FIG. 10 is a cross-sectional view A-A of FIG. 9;

FIG. 11 is a schematic view of a clamping assembly.

Reference numerals: 200-a main hull; 210-a surge arresting winch; 220-a first robot arm; 230-a synchronization connection bar; 240-stabilizer bar; 250-a pulley; 10-a hull; 11-a chute; 12-open and close cabin doors; 13-a first hydraulic telescopic rod; 14-a first supporting and fixing plate; 15-a first connecting rope body; 20-a first component; 21-a rubber block; 22-a slide bar; 23-sealing the chamber; 24-a sealing plate; 25-connecting vias; 30-a recovery assembly; 31-a first screw rod; 32-a second moving substrate; 33-an auxiliary connecting shaft; 34-a shaft sleeve; 35-a third motor; 36-sliding support rods; 37-a stationary support plate; 38-a second motor; 39-a drive gear; 310-a first moving substrate; 311-a second screw rod; 312 — a first motor; 40-a first limiting base; 41-a water pump; 42-a second hydraulic cylinder; 43-a first closure plate; 44-a second closure plate; 45-water pipes; 46-a second hydraulic ram; 50-a second limiting base; 51-a buffer ring; 60-a clamping assembly; 61-grip drive motor; 62-an infrared detector; 63-a flexible clamping block; 64-a first spring; 65-first clamping substrate; 66-a second clamping substrate; 67-a third clamping base plate; 68-rotating the disk; 69-a fourth hinge plate; 610-a fifth clamping substrate; 70-a retraction cabin; 71-a drive bay; 72-test chamber.

Detailed Description

The technical solution of the present invention is further described in detail below with reference to the following detailed description and the accompanying drawings:

example 1:

referring to the accompanying drawings of fig. 1-11, an apparatus for deploying and retracting a marine floating observation device by using an unmanned ship comprises:

the hull 10 is provided with three cabin bodies arranged in the hull 10, a detection cabin 72, a retraction cabin 70 and a driving cabin 71 are respectively arranged from the front end to the rear end of the hull 10,

an opening and closing cabin door 12 capable of being opened outwards is arranged on the cabin body at one side of the folding and unfolding cabin 70,

a second limit base 50, the second limit base 50 is arranged in the adjacent cabin body of the opening and closing cabin door 12, the second limit base 50 is provided with an inclined surface inclined towards the cabin body, the top end of the inclined surface of the second limit base 50 is arranged in parallel with the opening and closing cabin door 12,

the first limiting base 40, the first limiting base 40 is arranged at the opposite position of the second limiting base 50, the first limiting base and the second limiting base have a spacing distance, the recovery component 30 is arranged above the first limiting base 40,

wherein, be equipped with water pump 41 in the first spacing base member 40, the water inlet port of water pump 41 is located the hull 10 bottom outside, and the water outlet port of water pump 41 is connected with water pipe 45, and the top is located first spacing base member 40 side to the water pipe 45 delivery port.

The ship body 10 designed by the invention can be matched with satellite communication to realize control and planning of navigation and route of the ship body 10 on the water surface, so that a large scientific investigation ship is driven to the sea area, a plurality of unmanned ship bodies 10 are respectively put in and can float and release a plurality of points in a plurality of ranges, the large scientific investigation ship can float and navigate in situ, the action time and resource consumption of the large ship are greatly reduced, the releasing and releasing cabin 70 is arranged between the detection cabin 72 and the driving cabin 71 in front of and behind the ship body 10, the front and back counter weights of the ship body are improved by utilizing the detection cabin 72 and the driving cabin 71 which are arranged in front and back, the navigation of the ship body 10 on the sea surface is facilitated, the detection cabin 72 is arranged at the bow of the ship body 10, an inductor and the like are designed on the upper part of the detection cabin 72 to avoid collision between the unmanned ship body 10 and floaters on the sea surface, and the buoy can be better tracked and collected by installing a GPS and matching with a satellite control mode, in the driving cabin 71, a driving motor, a propeller and other pushing devices can be selectively installed to ensure the normal movement of the hull in water, and a solar panel can be installed outside the hull 10 to supply power, which is the prior art and not described herein.

The ship body 10 of the scheme drives to the vicinity of the buoy by controlling, the opening and closing cabin door 12 is opened, the recovery assembly 30 is controlled to clamp and recover the buoy into the storage cabin 70, the recovery assembly 30 is arranged at the upper part of the inclined plane of the second limiting base body 50 to lower the buoy when the recovery assembly 30 recovers the buoy into the storage cabin 70, so that the falling buoy is buffered by the inclined plane of the second limiting base body 50 and slides downwards along the inclined plane or rolls downwards, the damage to the buoy and the collision damage to the stacked and collected buoy caused by direct falling are avoided, when the buoy is recovered, the water at the bottom of the ship body 10 can be pumped into the storage cabin 70 by the water pump 41, the bottom fluid rectification effect of the absorption and collection of the bottom water is avoided from the appearance of unstable fluid, the ship body is further stabilized, the counter weight at the bottom of the storage cabin 70 is increased by the fed water, and the overall floating stability of the ship body 10 is improved, and the space between the first limit base body 40 and the second limit base body 50 filled with the water body can buffer the recovered buoy, the impact force of the buoy falling from the inclined plane of the second limit base body 50 is reduced by the resistance of the water body, and a certain cleaning effect can be achieved on the surface of the buoy.

Meanwhile, the space between the first limiting base body 40 and the second limiting base body 50 is designed to be used as a buoy storage space, so that the buoy stacking space is limited, and the buoy can be conveniently thrown.

The upper portion of the inner side of the cabin body adjacent to the opening and closing cabin door 12 is provided with a first supporting fixing plate 14, the first supporting fixing plate 14 is provided with a first hydraulic telescopic rod 13, the cabin body is provided with a hole body matched with the first hydraulic telescopic rod 13, the first hydraulic telescopic rod 13 extends out of the cabin body, the end part of the extending cabin body is connected with a first connecting rope body 15, the first connecting rope body 15 is further connected with the opening and closing cabin door 12, and the first hydraulic telescopic rod 13 is controlled to control the opening and closing of the opening and closing cabin door 12. The design of the opening and closing cabin door 12 is through the flexible 15 upwards pulls of first connecting rope to the outside of coming of the flexible of control first hydraulic telescoping rod 13, and then opens and close the cabin door 12 and play control, wherein the 12 of the cabin door that opens and shuts close only need first hydraulic telescoping rod 13 shrink can, the cabin door 12 that opens and shuts utilizes gravity automatic closure, has saved the cabin door 12 that opens and shuts and has closed the energy consumption, and the cabin door 12 frame that opens and shuts all wraps up rubber seal strip.

A second sealing plate 44 horizontally arranged is arranged between the first limiting base body 40 and the second limiting base body 50, and a second hydraulic cylinder 42 and a second hydraulic rod 46 which drive the second sealing plate 44 to horizontally move are arranged in the first limiting base body 40. The first sealing plate 44 is designed to seal the lower portion of the space between the first limiting base 40 and the second limiting inner base 50, so that the medium is prevented from being discharged from the bottom of the ship body 10 through the space, and a hole corresponding to the space between the first limiting base 40 and the second limiting base 50 is formed in the bottom of the ship body 10 for launching a buoy.

Be equipped with the first shrouding 43 of level setting between first spacing base member 40 and the spacing base member 50 of second, first shrouding 43 surface equipartition through-hole is equipped with second hydraulic cylinder 42 and the second hydraulic stem 46 of the horizontal migration of drive first shrouding 43 in the first spacing base member 40, and first shrouding 43 contacts with the spacing base member 50 inclined plane bottom end of second. The first cover plate 43 is designed to provide a spaced distance between the first and second cover plates 43 and 44, thus, in the process of recovering the buoy, impurities in the water body pumped into the storage compartment 70 from the bottom in the ship body 10 can fall into the space between the second sealing plate 44 and the first sealing plate 43 through the through holes on the first sealing plate 43, and the impurities falling from the float recovered to the inner surface of the storage compartment 70 can also fall through the through hole of the first sealing plate 43 to the space between the second sealing plate 44 and the first sealing plate 43, and more importantly, when the buoy is launched, the water in the tank can be discharged preferentially through the arrangement design of the first sealing plate 43 and the second sealing plate 44, the overweight of the ballast in the tank is reduced, if the second sealing plate 44 is opened to limit the buoy through the first sealing plate 43 and discharge the water out of the hull 10, the frequency of opening the first sealing plate 43 is controlled to control the launching of the buoy.

The recovery assembly 30 comprises two fixed support plates 37 which are arranged oppositely, a second screw rod 311 and an auxiliary connecting shaft 33 are respectively arranged between the two fixed support plates 37, the second screw rod 311 and the auxiliary connecting shaft 33 are arranged in parallel, a driving gear 39 is arranged at one end of the second screw rod 311, a second motor 38 matched with the driving gear 39 is arranged on a first limiting base body 40, a first moving base body 310 is matched with the second screw rod 311 and the auxiliary connecting shaft 33, a ball sleeve matched with the second screw rod 311 is arranged in the first moving base body 310, a second moving base body 32 is arranged at the upper end of the first moving base body 310, a first screw rod 31 is matched with the second moving base body 32, a third motor 35 is connected to the adjacent opening and closing cabin door 12 end of the first screw rod 31, and the end of the third motor 35 is connected with the clamping assembly 60. A sliding sleeve is arranged at the joint of the first moving base 310 and the auxiliary connecting shaft 33.

The scheme of first lead screw 31 and second lead screw 311 is realized forming X, Y ascending removal of direction to third motor 35 and centre gripping subassembly 60 through the design in the present case, even third motor 35 and centre gripping subassembly 60 can move on the horizontal plane, make third motor 35 and centre gripping subassembly 60 stretch out and open and shut cabin door 12 outside and carry out the centre gripping back and send the buoy after the centre gripping into the cabin to the buoy after the centre gripping, in centre gripping subassembly 60 is to the buoy clamping process, the buoy is usually to be similar vertical state because buoyancy floats in the surface of water, confirm to the buoy centre gripping back at centre gripping subassembly 60, third motor 35 drive centre gripping subassembly 60 rotates and is 90, it is back to the cabin to drive the buoy in step after becoming horizontal state by vertical state, automatic collection buoy has been realized.

The first screw 31 and the second screw 311 are vertically arranged, a ball sleeve arranged with the first screw 31 is arranged in the second moving base 32, and a first motor 312 for driving the ball sleeve matched with the first screw 31 to rotate is arranged below the first moving base 310. The joint of the first screw rod 31 and the third motor 35 is provided with a bearing ring, the first screw rod 31 and the second screw rod 311 are vertically arranged and used for ensuring that the third motor 35 and the clamping assembly 60 move upwards in the direction of X, Y, the first screw rod 31 and the second screw rod 311 both adopt a ball screw principle and can accurately control transmission, and the first motor 312 and the second motor 38 respectively provide driving force.

A shaft sleeve 34 is arranged on the first screw 31 between the third motor 35 and the second movable base body 32, a sliding support rod 36 is connected below the shaft sleeve 34, the sliding support rod 36 is perpendicular to the surface of the first limiting base body 40, and a ball in surface contact with the first limiting base body 40 is arranged at the bottom end of the sliding support rod 36. The sliding support rod 36 is designed to enable the first screw rod 31 to rotate through the shaft sleeve 34 during moving, and support is arranged below the shaft sleeve 34 to reduce circular run-out caused by the possibility of bending of the first screw rod 31 due to overlong length and smooth transmission.

The clamping assembly 60 includes:

two first clamping substrates 65 which are arranged oppositely, a fifth clamping substrate 610 is movably connected below the middle section of the two first clamping substrates 65, flexible clamping blocks 63 are respectively arranged on the opposite sides of the upper ends of the two first clamping substrates 65, first springs 64 are connected on the opposite sides of the upper ends of the two first clamping substrates 65,

one end of the fourth hinge plate 69 is hinged with the bottom ends of the two first clamping base plates 65 respectively, the other end of the fourth hinge plate 69 is hinged with one end of the second clamping base plate 66, the other end of the second clamping base plate 66 is hinged with a rotating disc 68, the bottom of the rotating disc 68 is movably connected with a third clamping base plate 67, the third clamping base plate 67 is fixedly connected with one side of a fifth clamping base plate 610, and a clamping driving motor 61 connected with the rotating disc 68 is arranged below the third clamping base plate 67. An infrared detector 62 is provided on the first holding substrate 65 on the side of the flexible holding block 63,

when the buoy is recovered, the buoy floats to the water surface, the clamping assembly 60 extends out, under the auxiliary cooperation of the infrared detector 62, the flexible clamping blocks 63 of the clamping assembly 60 correspond to the position of the buoy which vertically floats to the water surface, in this state, the rotating disc 68 is driven to rotate by controlling the clamping driving motor 61, the second clamping base plate 66 is driven to drag the fourth hinged plate 69, then the two first clamping base plates 65 are enabled to rotate, the clamping strength of the buoy can be further improved under the cooperation of the first springs 64, and the two flexible clamping blocks 63 are used for avoiding excessive clamping or scratching the surface of the buoy.

The inclined plane of the second limiting base body 50 is evenly provided with buffer rings 51 at intervals, and the buffer rings 51 are inflated annular air bags. The buffer ring 51 is designed to reduce the impact force of the float falling from the top, the impact force is absorbed by the action of the air bag, the buffer ring 51 is arranged at intervals, the moving energy consumption of the float in the downward sliding or rolling process can be reduced and controlled within a certain range by using the interval distance, the float can generate relative friction with the buffer rings 51 on two sides when contacting with the buffer ring 51 at intervals, and the falling rotation amplitude and the falling rotation frequency of the float can be reduced to reduce the shaking of the internal instruments of the float.

A lifting ring is arranged outside the ship body 10, the upper end of the ship body 10 is connected with a pulley 250 through the lifting ring and a connecting rope, the upper part of the pulley 250 is connected with a horizontally arranged anti-rolling cross bar 240, the upper part of the anti-rolling cross bar 240 is connected with a synchronous connecting rod 230 arranged in parallel with the anti-rolling cross bar, two ends of the synchronous connecting rod 230 are respectively connected with a first mechanical arm 220, the first mechanical arm 220 is arranged on the main ship body 200,

the side of the hull 10 is connected with a swing-stopping winch 210 through a hanging ring and a rope body, and the swing-stopping winch 210 is arranged on the main hull 200. Through diversely being connected with hull 10, the hull is putting into or is withdrawed the in-process of aquatic like this, and the amplitude of shaking of hull 10 can be reduced, avoids the circumstances such as the buoy collision each other and the hull 10 outside and main hull 200 in-cabin to appear, and more importantly, has reduced the shaking of hull 10 and can have reduced artifical supplementary hull 10 intensity of labour and the dangerous degree of receiving and releasing. The anti-rolling cross rod 240 and the synchronous connecting rod 230 designed at the upper end of the ship body 10 are connected with the upper end of the ship body 10, so that the ship body 10 is connected in multiple angles, and the shaking of the ship body in the folding and unfolding processes is further reduced.

Example 2:

the further optimization scheme of the embodiment based on the embodiment 1 is as follows: referring to fig. 9 and 10, the hull 10 is provided with a sliding groove along an outer wall thereof, a sliding rod 22 is inserted into the sliding groove, rubber blocks 21 abutting against the sliding rod 22 are further arranged at two ends of the sliding groove, a first assembly 20 is arranged outside the sliding rod 22, the first assembly 20 is arranged in a hollow manner, a sealing plate 24 is arranged in the first assembly 20, the sealing plate 24 hermetically separates the upper part of the first assembly 20 into a sealed cavity 23, and a base body on the bottom surface of the first assembly 20 is provided with a connecting through hole 25.

The first assemblies 20 are respectively arranged on the lateral sides of the ship body 10, so that the collision avoidance effect can be achieved on the periphery of the ship body 10, for example, the ship body 10 can effectively avoid the collision between the ship body 10 and the main ship body 200 in the process of folding and unfolding the ship body 10 to the main ship body 200, wherein the first assemblies 20 are designed to be hollow, so that the sealed chambers 23 can be designed to provide necessary buoyancy, the buoyancy on the periphery of the ship body 10 is stabilized, the space below the sealed chambers 23 and the connecting through holes 25 are designed to enable part of water to enter the space, so that the bottom of the first assemblies 20 is provided with proper water to ensure the close contact between the first assemblies 20 and the water on the water surface, and the overturning of the ship body is reduced, more importantly, the connecting through holes 25 are designed to achieve the effect of stabilizing the ship body in the process that the ship body 10 falls into the sea water surface from the lower part of the main ship body 200, and part of the water quickly enters the space inside the first assemblies 20 through the connecting through holes 25 when the ship body 10 falls into the water surface, so as to improve the counter weight of the bottom of the first assembly 20, so as to reduce the shaking which may be generated to the ship body 10 just falling from the main ship body 200 to the water surface, and the sliding rod 22 and the rubber block 21 are designed to drive the first assembly 20 to move up and down by making the rubber block 21 deformed by abutting, thereby further consuming the falling impact of the ship body 10 falling from the main ship body 200 to the water surface and avoiding the overturning of the ship body 10.

The above embodiments are merely illustrative, and not restrictive, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, all equivalent technical solutions also belong to the scope of the present invention, and the protection scope of the present invention should be defined by the claims.

Claims (10)

1. An apparatus for deploying and retracting a marine floating type observation device by using an unmanned ship, comprising:

the ship comprises a ship body (10), wherein three cabin bodies are arranged in the ship body (10), a detection cabin (72), a retraction cabin (70) and a driving cabin (71) are respectively arranged from the front end to the rear end of the ship body (10),

an opening and closing cabin door (12) capable of being opened outwards is arranged on the cabin body on one side of the folding and unfolding cabin (70),

the second limiting base body (50) is arranged in the adjacent cabin body of the opening and closing cabin door (12), the second limiting base body (50) is provided with an inclined surface inclined towards the cabin body, the top end of the inclined surface of the second limiting base body (50) is arranged in parallel with the opening and closing cabin door (12),

the first limiting base body (40), the first limiting base body (40) is arranged at the opposite position of the second limiting base body (50) and has a spacing distance, a recovery assembly (30) is arranged above the first limiting base body (40),

wherein, be equipped with water pump (41) in first spacing base member (40), the hull (10) bottom outside is located to water pump (41) inlet port, water pump (41) outlet port is connected with water pipe (45), first spacing base member (40) side top is located to water pipe (45) delivery port.

2. The device for deploying and retracting the marine floating observation equipment by using the unmanned ship as claimed in claim 1, which is characterized in that: the cabin body is characterized in that the upper part of the inner side of the adjacent cabin body of the opening and closing cabin door (12) is provided with a first supporting fixing plate (14), a first hydraulic telescopic rod (13) is arranged on the first supporting fixing plate (14), a hole body matched with the first hydraulic telescopic rod (13) is arranged on the cabin body, the first hydraulic telescopic rod (13) stretches out the cabin body, the end part of the stretching out cabin body is connected with a first connecting rope body (15), the first connecting rope body (15) is further connected with the opening and closing cabin door (12), and the opening and closing of the opening and closing cabin door (12) is controlled by controlling the first hydraulic telescopic rod (13).

3. The device for deploying and retracting the marine floating observation equipment by using the unmanned ship as claimed in claim 1, which is characterized in that: a second sealing plate (44) horizontally arranged is arranged between the first limiting base body (40) and the second limiting base body (50), and a second hydraulic cylinder (42) and a second hydraulic rod (46) which drive the second sealing plate (44) to horizontally move are arranged in the first limiting base body (40).

4. The device for deploying and retracting the marine floating observation equipment by using the unmanned ship as claimed in claim 1 or 3, wherein: be equipped with first shrouding (43) that the level set up between first spacing base member (40) and the spacing base member of second (50), first shrouding (43) surface equipartition through-hole, be equipped with second hydraulic cylinder (42) and second hydraulic stem (46) that drive first shrouding (43) horizontal migration in first spacing base member (40), first shrouding (43) and the contact of the spacing base member of second (50) inclined plane bottom.

5. The device for deploying and retracting the marine floating observation equipment by using the unmanned ship as claimed in claim 1, which is characterized in that: the recovery assembly (30) comprises two fixed supporting plates (37) which are arranged oppositely, a second screw rod (311) and an auxiliary connecting shaft (33) are respectively arranged between the two fixed supporting plates (37), the second screw rod (311) and the auxiliary connecting shaft (33) are arranged in parallel, one end of the second screw rod (311) is provided with a driving gear (39), a second motor (38) matched with the driving gear (39) is arranged on a first limiting base body (40), a first moving base body (310) is matched and arranged on the second screw rod (311) and the auxiliary connecting shaft (33), a ball sleeve matched and arranged with the second screw rod (311) is arranged in the first moving base body (310), a second moving base body (32) is arranged at the upper end of the first moving base body (310), a first screw rod (31) is matched and arranged on the second moving base body (32), and a third motor (35) is connected to the adjacent opening and closing ends of the first screw rod (31), the end of the third motor (35) is connected with a clamping assembly (60).

6. The device for deploying and retracting the marine floating observation equipment by using the unmanned ship as claimed in claim 5, wherein: the first screw rod (31) and the second screw rod (311) are arranged vertically, a ball sleeve matched with the first screw rod (31) is arranged in the second moving base body (32), and a first motor (312) driving the ball sleeve matched with the first screw rod (31) to rotate is arranged below the first moving base body (310).

7. The device for deploying and retracting the marine floating observation equipment by using the unmanned ship as claimed in claim 6, wherein: be equipped with axle sleeve (34) on first lead screw (31) between third motor (35) and the second removal base member (32), axle sleeve (34) below is connected with slip bracing piece (36), slip bracing piece (36) and first spacing base member (40) surface vertical set up, slip bracing piece (36) bottom is equipped with the ball with first spacing base member (40) surface contact.

8. The device for deploying and retracting the marine floating observation equipment by using the unmanned ship as claimed in claim 5, wherein: the clamping assembly (60) comprises:

two first clamping substrates (65) which are arranged oppositely, a fifth clamping substrate (610) is movably connected below the middle section of the two first clamping substrates (65), flexible clamping blocks (63) are respectively arranged on the opposite sides of the upper ends of the two first clamping substrates (65), first springs (64) are connected on the opposite sides of the upper ends of the two first clamping substrates (65),

a fourth hinged plate (69), a fourth hinged plate (69) tip is articulated with two first centre gripping base plates (65) bottom respectively, and another tip is articulated with a root second centre gripping base plate (66) tip, another tip of second centre gripping base plate (66) articulates and rotates disc (68), it has third clamping base plate (67) to rotate disc (68) bottom swing joint, third clamping base plate (67) and fifth clamping base plate (610) one side rigid coupling, third clamping base plate (67) below is equipped with centre gripping driving motor (61) of being connected with rotation disc (68).

9. The device for deploying and retracting the marine floating observation equipment by using the unmanned ship as claimed in claim 1, which is characterized in that: buffer rings (51) are uniformly distributed on the inclined plane of the second limiting base body (50) at intervals, and the buffer rings (51) are inflated annular air bags.

10. The device for deploying and retracting the marine floating observation equipment by using the unmanned ship as claimed in claim 1, which is characterized in that:

a lifting ring is arranged outside the ship body (10), the upper end of the ship body (10) is connected with a pulley (250) through the lifting ring and a connecting rope, the upper part of the pulley (250) is connected with a horizontally arranged anti-rolling cross rod (240), the upper part of the anti-rolling cross rod (240) is connected with a synchronous connecting rod (230) which is arranged in parallel with the anti-rolling cross rod, two ends of the synchronous connecting rod (230) are respectively connected with a first mechanical arm (220), the first mechanical arm (220) is arranged on the main ship body (200),

the side of the ship body (10) is connected with an anti-oscillation winch (210) through a hanging ring and a rope body, and the anti-oscillation winch (210) is arranged on the main ship body (200).

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